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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="#pri-types">Private 类型</a> &#124;
<a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p><a class="el" href="classpcl_1_1_voxel_grid.html" title="VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.">VoxelGrid</a> assembles a local 3D grid over a given <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, and downsamples + filters the data.  
 <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="filters_2include_2pcl_2filters_2voxel__grid_8h_source.html">voxel_grid.h</a>&gt;</code></p>
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类 pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt; 继承关系图:</div>
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  <img src="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.png" usemap="#pcl::VoxelGrid_3C_20pcl::PCLPointCloud2_20_3E_map" alt=""/>
  <map id="pcl::VoxelGrid_3C_20pcl::PCLPointCloud2_20_3E_map" name="pcl::VoxelGrid_3C_20pcl::PCLPointCloud2_20_3E_map">
<area href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html" title="Filter represents the base filter class. All filters must inherit from this interface." alt="pcl::Filter&lt; pcl::PCLPointCloud2 &gt;" shape="rect" coords="0,56,230,80"/>
<area href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html" alt="pcl::PCLBase&lt; pcl::PCLPointCloud2 &gt;" shape="rect" coords="0,0,230,24"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a64cef7948e827c6f1cdaf837f21d823c"><td class="memItemLeft" align="right" valign="top"><a id="a64cef7948e827c6f1cdaf837f21d823c"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a64cef7948e827c6f1cdaf837f21d823c">VoxelGrid</a> ()</td></tr>
<tr class="memdesc:a64cef7948e827c6f1cdaf837f21d823c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a64cef7948e827c6f1cdaf837f21d823c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9606cf74b770af30dee23aa97326709f"><td class="memItemLeft" align="right" valign="top"><a id="a9606cf74b770af30dee23aa97326709f"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a9606cf74b770af30dee23aa97326709f">~VoxelGrid</a> ()</td></tr>
<tr class="memdesc:a9606cf74b770af30dee23aa97326709f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a9606cf74b770af30dee23aa97326709f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a3768360da74a45768b00d8fc7cd179"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5a3768360da74a45768b00d8fc7cd179">setLeafSize</a> (const Eigen::Vector4f &amp;leaf_size)</td></tr>
<tr class="memdesc:a5a3768360da74a45768b00d8fc7cd179"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the voxel grid leaf size.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5a3768360da74a45768b00d8fc7cd179">更多...</a><br /></td></tr>
<tr class="separator:a5a3768360da74a45768b00d8fc7cd179"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3efe8cb07386b291c88c5178e8b135d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad3efe8cb07386b291c88c5178e8b135d">setLeafSize</a> (float lx, float ly, float lz)</td></tr>
<tr class="memdesc:ad3efe8cb07386b291c88c5178e8b135d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the voxel grid leaf size.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad3efe8cb07386b291c88c5178e8b135d">更多...</a><br /></td></tr>
<tr class="separator:ad3efe8cb07386b291c88c5178e8b135d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad19b64ab64da7bad4c2e1cb9b10b914d"><td class="memItemLeft" align="right" valign="top"><a id="ad19b64ab64da7bad4c2e1cb9b10b914d"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad19b64ab64da7bad4c2e1cb9b10b914d">getLeafSize</a> ()</td></tr>
<tr class="memdesc:ad19b64ab64da7bad4c2e1cb9b10b914d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxel grid leaf size. <br /></td></tr>
<tr class="separator:ad19b64ab64da7bad4c2e1cb9b10b914d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c93ac4fcbc8183ad5618e633dd7de7e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a2c93ac4fcbc8183ad5618e633dd7de7e">setDownsampleAllData</a> (bool downsample)</td></tr>
<tr class="memdesc:a2c93ac4fcbc8183ad5618e633dd7de7e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if all fields need to be downsampled, or false if just XYZ.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a2c93ac4fcbc8183ad5618e633dd7de7e">更多...</a><br /></td></tr>
<tr class="separator:a2c93ac4fcbc8183ad5618e633dd7de7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afaf54814cd0a8c6f6e64059356eeed4f"><td class="memItemLeft" align="right" valign="top"><a id="afaf54814cd0a8c6f6e64059356eeed4f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#afaf54814cd0a8c6f6e64059356eeed4f">getDownsampleAllData</a> ()</td></tr>
<tr class="memdesc:afaf54814cd0a8c6f6e64059356eeed4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). <br /></td></tr>
<tr class="separator:afaf54814cd0a8c6f6e64059356eeed4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3eafa1ff8820f85536916c62cfb4de1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ae3eafa1ff8820f85536916c62cfb4de1">setMinimumPointsNumberPerVoxel</a> (unsigned int min_points_per_voxel)</td></tr>
<tr class="memdesc:ae3eafa1ff8820f85536916c62cfb4de1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum number of points required for a voxel to be used.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ae3eafa1ff8820f85536916c62cfb4de1">更多...</a><br /></td></tr>
<tr class="separator:ae3eafa1ff8820f85536916c62cfb4de1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31456dc3a59a6e34d61c661ef9c30d1b"><td class="memItemLeft" align="right" valign="top"><a id="a31456dc3a59a6e34d61c661ef9c30d1b"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a31456dc3a59a6e34d61c661ef9c30d1b">getMinimumPointsNumberPerVoxel</a> ()</td></tr>
<tr class="memdesc:a31456dc3a59a6e34d61c661ef9c30d1b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the minimum number of points required for a voxel to be used. <br /></td></tr>
<tr class="separator:a31456dc3a59a6e34d61c661ef9c30d1b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac224d8287578b0faa84c0dd7a70e50c9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac224d8287578b0faa84c0dd7a70e50c9">setSaveLeafLayout</a> (bool save_leaf_layout)</td></tr>
<tr class="memdesc:ac224d8287578b0faa84c0dd7a70e50c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if leaf layout information needs to be saved for later access.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac224d8287578b0faa84c0dd7a70e50c9">更多...</a><br /></td></tr>
<tr class="separator:ac224d8287578b0faa84c0dd7a70e50c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af99aa1bea1e99021f502541cced67a70"><td class="memItemLeft" align="right" valign="top"><a id="af99aa1bea1e99021f502541cced67a70"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af99aa1bea1e99021f502541cced67a70">getSaveLeafLayout</a> ()</td></tr>
<tr class="memdesc:af99aa1bea1e99021f502541cced67a70"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if leaf layout information will to be saved for later access. <br /></td></tr>
<tr class="separator:af99aa1bea1e99021f502541cced67a70"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6bbd35aa328b927fe37548f72bd4c49d"><td class="memItemLeft" align="right" valign="top"><a id="a6bbd35aa328b927fe37548f72bd4c49d"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6bbd35aa328b927fe37548f72bd4c49d">getMinBoxCoordinates</a> ()</td></tr>
<tr class="memdesc:a6bbd35aa328b927fe37548f72bd4c49d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum coordinates of the bounding box (after filtering is performed). <br /></td></tr>
<tr class="separator:a6bbd35aa328b927fe37548f72bd4c49d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4014973ea6eb6a646fe1c7d4087fff2f"><td class="memItemLeft" align="right" valign="top"><a id="a4014973ea6eb6a646fe1c7d4087fff2f"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a4014973ea6eb6a646fe1c7d4087fff2f">getMaxBoxCoordinates</a> ()</td></tr>
<tr class="memdesc:a4014973ea6eb6a646fe1c7d4087fff2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum coordinates of the bounding box (after filtering is performed). <br /></td></tr>
<tr class="separator:a4014973ea6eb6a646fe1c7d4087fff2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d2312bbd7a04bf29dbb0021efe95dc9"><td class="memItemLeft" align="right" valign="top"><a id="a4d2312bbd7a04bf29dbb0021efe95dc9"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a4d2312bbd7a04bf29dbb0021efe95dc9">getNrDivisions</a> ()</td></tr>
<tr class="memdesc:a4d2312bbd7a04bf29dbb0021efe95dc9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of divisions along all 3 axes (after filtering is performed). <br /></td></tr>
<tr class="separator:a4d2312bbd7a04bf29dbb0021efe95dc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae97a8c73bf15465cc17978eb9bfddb51"><td class="memItemLeft" align="right" valign="top"><a id="ae97a8c73bf15465cc17978eb9bfddb51"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ae97a8c73bf15465cc17978eb9bfddb51">getDivisionMultiplier</a> ()</td></tr>
<tr class="memdesc:ae97a8c73bf15465cc17978eb9bfddb51"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed). <br /></td></tr>
<tr class="separator:ae97a8c73bf15465cc17978eb9bfddb51"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b1c84576670f8b34ac7bc92d92e9f39"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a9b1c84576670f8b34ac7bc92d92e9f39">getCentroidIndex</a> (float x, float y, float z)</td></tr>
<tr class="memdesc:a9b1c84576670f8b34ac7bc92d92e9f39"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the index in the resulting downsampled cloud of the specified point.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a9b1c84576670f8b34ac7bc92d92e9f39">更多...</a><br /></td></tr>
<tr class="separator:a9b1c84576670f8b34ac7bc92d92e9f39"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aafea09b10378c43b3fdf1d4081d7c6da"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aafea09b10378c43b3fdf1d4081d7c6da">getNeighborCentroidIndices</a> (float x, float y, float z, const Eigen::MatrixXi &amp;relative_coordinates)</td></tr>
<tr class="memdesc:aafea09b10378c43b3fdf1d4081d7c6da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinates, relative to the grid coordinates of the specified point (or -1 if the cell was empty/out of bounds).  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aafea09b10378c43b3fdf1d4081d7c6da">更多...</a><br /></td></tr>
<tr class="separator:aafea09b10378c43b3fdf1d4081d7c6da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a087034ff17fe72637bf9fb9a5dbb5e84"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a087034ff17fe72637bf9fb9a5dbb5e84">getNeighborCentroidIndices</a> (float x, float y, float z, const std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;relative_coordinates)</td></tr>
<tr class="memdesc:a087034ff17fe72637bf9fb9a5dbb5e84"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinates, relative to the grid coordinates of the specified point (or -1 if the cell was empty/out of bounds).  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a087034ff17fe72637bf9fb9a5dbb5e84">更多...</a><br /></td></tr>
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<tr class="memitem:a6ae66d452352e8475c2600f70e24e149"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6ae66d452352e8475c2600f70e24e149">getLeafLayout</a> ()</td></tr>
<tr class="memdesc:a6ae66d452352e8475c2600f70e24e149"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the layout of the leafs for fast access to cells relative to current position.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6ae66d452352e8475c2600f70e24e149">更多...</a><br /></td></tr>
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<tr class="memitem:a58d4b4bb5b59bec0e84c64d8395aafaa"><td class="memItemLeft" align="right" valign="top">Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a58d4b4bb5b59bec0e84c64d8395aafaa">getGridCoordinates</a> (float x, float y, float z)</td></tr>
<tr class="memdesc:a58d4b4bb5b59bec0e84c64d8395aafaa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a58d4b4bb5b59bec0e84c64d8395aafaa">更多...</a><br /></td></tr>
<tr class="separator:a58d4b4bb5b59bec0e84c64d8395aafaa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad1ac95dd523dd9371e2e44784105a647"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad1ac95dd523dd9371e2e44784105a647">getCentroidIndexAt</a> (const Eigen::Vector3i &amp;ijk)</td></tr>
<tr class="memdesc:ad1ac95dd523dd9371e2e44784105a647"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the index in the downsampled cloud corresponding to a given set of coordinates.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad1ac95dd523dd9371e2e44784105a647">更多...</a><br /></td></tr>
<tr class="separator:ad1ac95dd523dd9371e2e44784105a647"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab936d6808f9d9f98b6c0db24be0a41de"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab936d6808f9d9f98b6c0db24be0a41de">setFilterFieldName</a> (const std::string &amp;field_name)</td></tr>
<tr class="memdesc:ab936d6808f9d9f98b6c0db24be0a41de"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide the name of the field to be used for filtering data. In conjunction with <em>setFilterLimits</em>, points having values outside this interval will be discarded.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab936d6808f9d9f98b6c0db24be0a41de">更多...</a><br /></td></tr>
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<tr class="memitem:a95d3a8f1e4e4b3e85455d1a2d0f6b0ed"><td class="memItemLeft" align="right" valign="top"><a id="a95d3a8f1e4e4b3e85455d1a2d0f6b0ed"></a>
std::string const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a95d3a8f1e4e4b3e85455d1a2d0f6b0ed">getFilterFieldName</a> ()</td></tr>
<tr class="memdesc:a95d3a8f1e4e4b3e85455d1a2d0f6b0ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the name of the field used for filtering. <br /></td></tr>
<tr class="separator:a95d3a8f1e4e4b3e85455d1a2d0f6b0ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a30dd6eb2db4530a79de192731019ac14"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a30dd6eb2db4530a79de192731019ac14">setFilterLimits</a> (const double &amp;limit_min, const double &amp;limit_max)</td></tr>
<tr class="memdesc:a30dd6eb2db4530a79de192731019ac14"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the field filter limits. All points having field values outside this interval will be discarded.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a30dd6eb2db4530a79de192731019ac14">更多...</a><br /></td></tr>
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<tr class="memitem:a7607b25d7f80928f5693bc29fdcef2d1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a7607b25d7f80928f5693bc29fdcef2d1">getFilterLimits</a> (double &amp;limit_min, double &amp;limit_max)</td></tr>
<tr class="memdesc:a7607b25d7f80928f5693bc29fdcef2d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the field filter limits (min/max) set by the user. The default values are -FLT_MAX, FLT_MAX.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a7607b25d7f80928f5693bc29fdcef2d1">更多...</a><br /></td></tr>
<tr class="separator:a7607b25d7f80928f5693bc29fdcef2d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7dc7ae35053e955da166a66a7e98aa6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac7dc7ae35053e955da166a66a7e98aa6">setFilterLimitsNegative</a> (const bool limit_negative)</td></tr>
<tr class="memdesc:ac7dc7ae35053e955da166a66a7e98aa6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). Default: false.  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac7dc7ae35053e955da166a66a7e98aa6">更多...</a><br /></td></tr>
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<tr class="memitem:af05fc089a7314ffd56c8a7cdadf3b5b3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af05fc089a7314ffd56c8a7cdadf3b5b3">getFilterLimitsNegative</a> (bool &amp;limit_negative)</td></tr>
<tr class="memdesc:af05fc089a7314ffd56c8a7cdadf3b5b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af05fc089a7314ffd56c8a7cdadf3b5b3">更多...</a><br /></td></tr>
<tr class="separator:af05fc089a7314ffd56c8a7cdadf3b5b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29297f6d7cac8c61236585f2dc73c4dd"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a29297f6d7cac8c61236585f2dc73c4dd">getFilterLimitsNegative</a> ()</td></tr>
<tr class="memdesc:a29297f6d7cac8c61236585f2dc73c4dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a29297f6d7cac8c61236585f2dc73c4dd">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::Filter&lt; pcl::PCLPointCloud2 &gt;</a></td></tr>
<tr class="memitem:a273249107c757fededc0d4b272f92f18 inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a273249107c757fededc0d4b272f92f18">Filter</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:a273249107c757fededc0d4b272f92f18 inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a273249107c757fededc0d4b272f92f18">更多...</a><br /></td></tr>
<tr class="separator:a273249107c757fededc0d4b272f92f18 inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a333be03190976e5f4c36b07c49017c0f inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a333be03190976e5f4c36b07c49017c0f"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a333be03190976e5f4c36b07c49017c0f">~Filter</a> ()</td></tr>
<tr class="memdesc:a333be03190976e5f4c36b07c49017c0f inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a333be03190976e5f4c36b07c49017c0f inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55e682f695f70ba230819624b702d490 inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a55e682f695f70ba230819624b702d490"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a55e682f695f70ba230819624b702d490">getRemovedIndices</a> ()</td></tr>
<tr class="memdesc:a55e682f695f70ba230819624b702d490 inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed <br /></td></tr>
<tr class="separator:a55e682f695f70ba230819624b702d490 inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed3e1689bc4ca18260c8864f6cc0c620 inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aed3e1689bc4ca18260c8864f6cc0c620">getRemovedIndices</a> (<a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;pi)</td></tr>
<tr class="memdesc:aed3e1689bc4ca18260c8864f6cc0c620 inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed  <a href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aed3e1689bc4ca18260c8864f6cc0c620">更多...</a><br /></td></tr>
<tr class="separator:aed3e1689bc4ca18260c8864f6cc0c620 inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3147f5d856f0b94f2df5b580a5cfef4f inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3147f5d856f0b94f2df5b580a5cfef4f">filter</a> (<a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &amp;output)</td></tr>
<tr class="memdesc:a3147f5d856f0b94f2df5b580a5cfef4f inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered dataset in output.  <a href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3147f5d856f0b94f2df5b580a5cfef4f">更多...</a><br /></td></tr>
<tr class="separator:a3147f5d856f0b94f2df5b580a5cfef4f inherit pub_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::PCLBase&lt; pcl::PCLPointCloud2 &gt;</a></td></tr>
<tr class="memitem:a5a7c520d0b7e55dac37233398b1f73a9 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a5a7c520d0b7e55dac37233398b1f73a9"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5a7c520d0b7e55dac37233398b1f73a9">PCLBase</a> ()</td></tr>
<tr class="memdesc:a5a7c520d0b7e55dac37233398b1f73a9 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a5a7c520d0b7e55dac37233398b1f73a9 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abfd692c3a729d6ae71abd6932e0bdb05 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="abfd692c3a729d6ae71abd6932e0bdb05"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#abfd692c3a729d6ae71abd6932e0bdb05">~PCLBase</a> ()</td></tr>
<tr class="memdesc:abfd692c3a729d6ae71abd6932e0bdb05 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">destructor. <br /></td></tr>
<tr class="separator:abfd692c3a729d6ae71abd6932e0bdb05 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a89fd19a5d925d75f66ae4cbd137463ad inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a89fd19a5d925d75f66ae4cbd137463ad">setInputCloud</a> (const PCLPointCloud2ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a89fd19a5d925d75f66ae4cbd137463ad inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a89fd19a5d925d75f66ae4cbd137463ad">更多...</a><br /></td></tr>
<tr class="separator:a89fd19a5d925d75f66ae4cbd137463ad inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa73a0e83b1b1c561eccb6617a4f887bb inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="aa73a0e83b1b1c561eccb6617a4f887bb"></a>
PCLPointCloud2ConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aa73a0e83b1b1c561eccb6617a4f887bb">getInputCloud</a> ()</td></tr>
<tr class="memdesc:aa73a0e83b1b1c561eccb6617a4f887bb inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:aa73a0e83b1b1c561eccb6617a4f887bb inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a375319f0863acd9dc9e980b6c8ef2c70 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a375319f0863acd9dc9e980b6c8ef2c70">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:a375319f0863acd9dc9e980b6c8ef2c70 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a375319f0863acd9dc9e980b6c8ef2c70">更多...</a><br /></td></tr>
<tr class="separator:a375319f0863acd9dc9e980b6c8ef2c70 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a216717095c1f35295c9ed488c171dbce inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a216717095c1f35295c9ed488c171dbce">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a216717095c1f35295c9ed488c171dbce inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a216717095c1f35295c9ed488c171dbce">更多...</a><br /></td></tr>
<tr class="separator:a216717095c1f35295c9ed488c171dbce inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61a768e0a9289c5fbfc5cfa778f7b582 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a61a768e0a9289c5fbfc5cfa778f7b582"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a61a768e0a9289c5fbfc5cfa778f7b582">getIndices</a> ()</td></tr>
<tr class="memdesc:a61a768e0a9289c5fbfc5cfa778f7b582 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a61a768e0a9289c5fbfc5cfa778f7b582 inherit pub_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a94c3a5c79711a5cffff8dcd223df605c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a94c3a5c79711a5cffff8dcd223df605c">applyFilter</a> (<a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &amp;output)</td></tr>
<tr class="memdesc:a94c3a5c79711a5cffff8dcd223df605c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsample a Point <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> using a voxelized grid approach  <a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a94c3a5c79711a5cffff8dcd223df605c">更多...</a><br /></td></tr>
<tr class="separator:a94c3a5c79711a5cffff8dcd223df605c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::Filter&lt; pcl::PCLPointCloud2 &gt;</a></td></tr>
<tr class="memitem:a68333c94da1dab84ff20c42fe49805e0 inherit pro_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a68333c94da1dab84ff20c42fe49805e0"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a68333c94da1dab84ff20c42fe49805e0">getClassName</a> () const</td></tr>
<tr class="memdesc:a68333c94da1dab84ff20c42fe49805e0 inherit pro_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a68333c94da1dab84ff20c42fe49805e0 inherit pro_methods_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::PCLBase&lt; pcl::PCLPointCloud2 &gt;</a></td></tr>
<tr class="memitem:a4fd5aeb18cda4a3f8f43109376f110a0 inherit pro_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a4fd5aeb18cda4a3f8f43109376f110a0"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>initCompute</b> ()</td></tr>
<tr class="separator:a4fd5aeb18cda4a3f8f43109376f110a0 inherit pro_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa38aad0389c18fe7756859e5feb43cbd inherit pro_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="aa38aad0389c18fe7756859e5feb43cbd"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>deinitCompute</b> ()</td></tr>
<tr class="separator:aa38aad0389c18fe7756859e5feb43cbd inherit pro_methods_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:aefb7ae0b4f979af11f5cb1e64595d4ff"><td class="memItemLeft" align="right" valign="top"><a id="aefb7ae0b4f979af11f5cb1e64595d4ff"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a></td></tr>
<tr class="memdesc:aefb7ae0b4f979af11f5cb1e64595d4ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">The size of a leaf. <br /></td></tr>
<tr class="separator:aefb7ae0b4f979af11f5cb1e64595d4ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adfab7417c9c38da8bf84f363c480a479"><td class="memItemLeft" align="right" valign="top"><a id="adfab7417c9c38da8bf84f363c480a479"></a>
Eigen::Array4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a></td></tr>
<tr class="memdesc:adfab7417c9c38da8bf84f363c480a479"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. <br /></td></tr>
<tr class="separator:adfab7417c9c38da8bf84f363c480a479"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3aced43dc1214b6a5f664ddda59b5fad"><td class="memItemLeft" align="right" valign="top"><a id="a3aced43dc1214b6a5f664ddda59b5fad"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3aced43dc1214b6a5f664ddda59b5fad">downsample_all_data_</a></td></tr>
<tr class="memdesc:a3aced43dc1214b6a5f664ddda59b5fad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if all fields need to be downsampled, or false if just XYZ. <br /></td></tr>
<tr class="separator:a3aced43dc1214b6a5f664ddda59b5fad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1202fd3ac1dcb29884f14d690520f02"><td class="memItemLeft" align="right" valign="top"><a id="ac1202fd3ac1dcb29884f14d690520f02"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac1202fd3ac1dcb29884f14d690520f02">save_leaf_layout_</a></td></tr>
<tr class="memdesc:ac1202fd3ac1dcb29884f14d690520f02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if leaf layout information needs to be saved in <em>leaf_layout</em>. <br /></td></tr>
<tr class="separator:ac1202fd3ac1dcb29884f14d690520f02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25b1e276cf28a05712d79d2fa72a70c1"><td class="memItemLeft" align="right" valign="top"><a id="a25b1e276cf28a05712d79d2fa72a70c1"></a>
std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">leaf_layout_</a></td></tr>
<tr class="memdesc:a25b1e276cf28a05712d79d2fa72a70c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">The leaf layout information for fast access to cells relative to current position <br /></td></tr>
<tr class="separator:a25b1e276cf28a05712d79d2fa72a70c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3848566ad3c84944b7aa6d0d1879d22b"><td class="memItemLeft" align="right" valign="top"><a id="a3848566ad3c84944b7aa6d0d1879d22b"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">min_b_</a></td></tr>
<tr class="memdesc:a3848566ad3c84944b7aa6d0d1879d22b"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. <br /></td></tr>
<tr class="separator:a3848566ad3c84944b7aa6d0d1879d22b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe6f86dd5b984ec85a8f7e4c8748c498"><td class="memItemLeft" align="right" valign="top"><a id="afe6f86dd5b984ec85a8f7e4c8748c498"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><b>max_b_</b></td></tr>
<tr class="separator:afe6f86dd5b984ec85a8f7e4c8748c498"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc9473d66f7fb62d85e2ba8243365090"><td class="memItemLeft" align="right" valign="top"><a id="acc9473d66f7fb62d85e2ba8243365090"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><b>div_b_</b></td></tr>
<tr class="separator:acc9473d66f7fb62d85e2ba8243365090"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af597df227dea9b0e2b5b1fa7ae327b13"><td class="memItemLeft" align="right" valign="top"><a id="af597df227dea9b0e2b5b1fa7ae327b13"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><b>divb_mul_</b></td></tr>
<tr class="separator:af597df227dea9b0e2b5b1fa7ae327b13"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1cbeb76cb1f0d48a5dbeec93fe0e028b"><td class="memItemLeft" align="right" valign="top"><a id="a1cbeb76cb1f0d48a5dbeec93fe0e028b"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a1cbeb76cb1f0d48a5dbeec93fe0e028b">filter_field_name_</a></td></tr>
<tr class="memdesc:a1cbeb76cb1f0d48a5dbeec93fe0e028b"><td class="mdescLeft">&#160;</td><td class="mdescRight">The desired user filter field name. <br /></td></tr>
<tr class="separator:a1cbeb76cb1f0d48a5dbeec93fe0e028b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abbc2d44932141daf9e665e5862e35234"><td class="memItemLeft" align="right" valign="top"><a id="abbc2d44932141daf9e665e5862e35234"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#abbc2d44932141daf9e665e5862e35234">filter_limit_min_</a></td></tr>
<tr class="memdesc:abbc2d44932141daf9e665e5862e35234"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum allowed filter value a point will be considered from. <br /></td></tr>
<tr class="separator:abbc2d44932141daf9e665e5862e35234"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab185d719494bb4f3fd02beddf416b557"><td class="memItemLeft" align="right" valign="top"><a id="ab185d719494bb4f3fd02beddf416b557"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab185d719494bb4f3fd02beddf416b557">filter_limit_max_</a></td></tr>
<tr class="memdesc:ab185d719494bb4f3fd02beddf416b557"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum allowed filter value a point will be considered from. <br /></td></tr>
<tr class="separator:ab185d719494bb4f3fd02beddf416b557"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a650f3a4c1ca3ed2dc4b272876b4bf717"><td class="memItemLeft" align="right" valign="top"><a id="a650f3a4c1ca3ed2dc4b272876b4bf717"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a650f3a4c1ca3ed2dc4b272876b4bf717">filter_limit_negative_</a></td></tr>
<tr class="memdesc:a650f3a4c1ca3ed2dc4b272876b4bf717"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the data outside (<em>filter_limit_min_</em>;<em>filter_limit_max_</em>). Default: false. <br /></td></tr>
<tr class="separator:a650f3a4c1ca3ed2dc4b272876b4bf717"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5ed9bc7d2ca7c8b965e5d61c4921a4b9"><td class="memItemLeft" align="right" valign="top"><a id="a5ed9bc7d2ca7c8b965e5d61c4921a4b9"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5ed9bc7d2ca7c8b965e5d61c4921a4b9">min_points_per_voxel_</a></td></tr>
<tr class="memdesc:a5ed9bc7d2ca7c8b965e5d61c4921a4b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum number of points per voxel for the centroid to be computed <br /></td></tr>
<tr class="separator:a5ed9bc7d2ca7c8b965e5d61c4921a4b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::Filter&lt; pcl::PCLPointCloud2 &gt;</a></td></tr>
<tr class="memitem:a90d5e2518ab1617b9bbcf3e3b29c8f0b inherit pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a90d5e2518ab1617b9bbcf3e3b29c8f0b"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a90d5e2518ab1617b9bbcf3e3b29c8f0b">removed_indices_</a></td></tr>
<tr class="memdesc:a90d5e2518ab1617b9bbcf3e3b29c8f0b inherit pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the points that are removed <br /></td></tr>
<tr class="separator:a90d5e2518ab1617b9bbcf3e3b29c8f0b inherit pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac708d4fce7c7de7f09b618517d405302 inherit pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="ac708d4fce7c7de7f09b618517d405302"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac708d4fce7c7de7f09b618517d405302">extract_removed_indices_</a></td></tr>
<tr class="memdesc:ac708d4fce7c7de7f09b618517d405302 inherit pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the indices of the removed points. <br /></td></tr>
<tr class="separator:ac708d4fce7c7de7f09b618517d405302 inherit pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f60fda33e06540e7a33118dc856dd95 inherit pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a2f60fda33e06540e7a33118dc856dd95"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a2f60fda33e06540e7a33118dc856dd95">filter_name_</a></td></tr>
<tr class="memdesc:a2f60fda33e06540e7a33118dc856dd95 inherit pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The filter name. <br /></td></tr>
<tr class="separator:a2f60fda33e06540e7a33118dc856dd95 inherit pro_attribs_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::PCLBase&lt; pcl::PCLPointCloud2 &gt;</a></td></tr>
<tr class="memitem:a3fbe484acd2de536fcecc05106e8f957 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a3fbe484acd2de536fcecc05106e8f957"></a>
PCLPointCloud2ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3fbe484acd2de536fcecc05106e8f957">input_</a></td></tr>
<tr class="memdesc:a3fbe484acd2de536fcecc05106e8f957 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a3fbe484acd2de536fcecc05106e8f957 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a44e83e2342c83d9e2b3bbae6b0fa3496 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a44e83e2342c83d9e2b3bbae6b0fa3496"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a44e83e2342c83d9e2b3bbae6b0fa3496">indices_</a></td></tr>
<tr class="memdesc:a44e83e2342c83d9e2b3bbae6b0fa3496 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:a44e83e2342c83d9e2b3bbae6b0fa3496 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fa3b4f5be8bf38d21dabb00c27a9699 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a3fa3b4f5be8bf38d21dabb00c27a9699"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3fa3b4f5be8bf38d21dabb00c27a9699">use_indices_</a></td></tr>
<tr class="memdesc:a3fa3b4f5be8bf38d21dabb00c27a9699 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:a3fa3b4f5be8bf38d21dabb00c27a9699 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a135a5262e52bf9ab4a0e2ce94892edfc inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a135a5262e52bf9ab4a0e2ce94892edfc"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a135a5262e52bf9ab4a0e2ce94892edfc">fake_indices_</a></td></tr>
<tr class="memdesc:a135a5262e52bf9ab4a0e2ce94892edfc inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
<tr class="separator:a135a5262e52bf9ab4a0e2ce94892edfc inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a18ff8830a0f9b0e6e887b40f5aa893b9 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a18ff8830a0f9b0e6e887b40f5aa893b9"></a>
std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a18ff8830a0f9b0e6e887b40f5aa893b9">field_sizes_</a></td></tr>
<tr class="memdesc:a18ff8830a0f9b0e6e887b40f5aa893b9 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The size of each individual field. <br /></td></tr>
<tr class="separator:a18ff8830a0f9b0e6e887b40f5aa893b9 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae47b8f3fd14aaa8a9f6b95e4bc2504e inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="aae47b8f3fd14aaa8a9f6b95e4bc2504e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aae47b8f3fd14aaa8a9f6b95e4bc2504e">x_idx_</a></td></tr>
<tr class="memdesc:aae47b8f3fd14aaa8a9f6b95e4bc2504e inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The x-y-z fields indices. <br /></td></tr>
<tr class="separator:aae47b8f3fd14aaa8a9f6b95e4bc2504e inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>y_idx_</b></td></tr>
<tr class="separator:ae08af4033df92384b827a7d80c0ddb35 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>z_idx_</b></td></tr>
<tr class="separator:ac75b45a68784da57d157c6b7fac6d1e3 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a71534c52dd4516ae5a481cea6a4ef6c8 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a71534c52dd4516ae5a481cea6a4ef6c8"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a71534c52dd4516ae5a481cea6a4ef6c8">x_field_name_</a></td></tr>
<tr class="memdesc:a71534c52dd4516ae5a481cea6a4ef6c8 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The desired x-y-z field names. <br /></td></tr>
<tr class="separator:a71534c52dd4516ae5a481cea6a4ef6c8 inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d1beec85a6002d35d1581842114514c inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a4d1beec85a6002d35d1581842114514c"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>y_field_name_</b></td></tr>
<tr class="separator:a4d1beec85a6002d35d1581842114514c inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a661eeb2543eb8aafb5232a0fab280c1b inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a661eeb2543eb8aafb5232a0fab280c1b"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>z_field_name_</b></td></tr>
<tr class="separator:a661eeb2543eb8aafb5232a0fab280c1b inherit pro_attribs_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
<tr class="memitem:ac98b0bd3972eed3460488795fd8dc367"><td class="memItemLeft" align="right" valign="top"><a id="ac98b0bd3972eed3460488795fd8dc367"></a>
typedef <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PCLPointCloud2</b></td></tr>
<tr class="separator:ac98b0bd3972eed3460488795fd8dc367"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef PCLPointCloud2::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PCLPointCloud2Ptr</b></td></tr>
<tr class="separator:aeb66dd97a49e2584657a144d1989a293"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef PCLPointCloud2::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PCLPointCloud2ConstPtr</b></td></tr>
<tr class="separator:a63767e859fcee6d158743771cc8b3a2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::Filter&lt; pcl::PCLPointCloud2 &gt;</a></td></tr>
<tr class="memitem:a416eb7cfb9b9da2415508fab135e88f1 inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a416eb7cfb9b9da2415508fab135e88f1"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a416eb7cfb9b9da2415508fab135e88f1 inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f8befda474c75ee26352a8c3d8979bb inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a7f8befda474c75ee26352a8c3d8979bb"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a7f8befda474c75ee26352a8c3d8979bb inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77db609df85af8759861367ed296ac6b inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a77db609df85af8759861367ed296ac6b"></a>
typedef <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PCLPointCloud2</b></td></tr>
<tr class="separator:a77db609df85af8759861367ed296ac6b inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad445d3f29b0a70a8031b9c363225cf69 inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="ad445d3f29b0a70a8031b9c363225cf69"></a>
typedef PCLPointCloud2::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PCLPointCloud2Ptr</b></td></tr>
<tr class="separator:ad445d3f29b0a70a8031b9c363225cf69 inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b446588ab31ecddf8e0561102adb78c inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="a4b446588ab31ecddf8e0561102adb78c"></a>
typedef PCLPointCloud2::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PCLPointCloud2ConstPtr</b></td></tr>
<tr class="separator:a4b446588ab31ecddf8e0561102adb78c inherit pub_types_classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::PCLBase&lt; pcl::PCLPointCloud2 &gt;</a></td></tr>
<tr class="memitem:aa6e6ccfdbf9cf653faf7e43e3b219446 inherit pub_types_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="aa6e6ccfdbf9cf653faf7e43e3b219446"></a>
typedef <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PCLPointCloud2</b></td></tr>
<tr class="separator:aa6e6ccfdbf9cf653faf7e43e3b219446 inherit pub_types_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac36bda39ea0d4406734b493eeb73ab9d inherit pub_types_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="ac36bda39ea0d4406734b493eeb73ab9d"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PCLPointCloud2Ptr</b></td></tr>
<tr class="separator:ac36bda39ea0d4406734b493eeb73ab9d inherit pub_types_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae35b98bfd019c88c21fa6ab6b02cad04 inherit pub_types_classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4"><td class="memItemLeft" align="right" valign="top"><a id="ae35b98bfd019c88c21fa6ab6b02cad04"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PCLPointCloud2ConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="classpcl_1_1_voxel_grid.html" title="VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.">VoxelGrid</a> assembles a local 3D grid over a given <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, and downsamples + filters the data. </p>
<p>The <a class="el" href="classpcl_1_1_voxel_grid.html" title="VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.">VoxelGrid</a> class creates a <em>3D voxel grid</em> (think about a voxel grid as a set of tiny 3D boxes in space) over the input point cloud data. Then, in each <em>voxel</em> (i.e., 3D box), all the points present will be approximated (i.e., <em>downsampled</em>) with their centroid. This approach is a bit slower than approximating them with the center of the voxel, but it represents the underlying surface more accurately.</p>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu, Bastian Steder, Radoslaw Cybulski </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a94c3a5c79711a5cffff8dcd223df605c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a94c3a5c79711a5cffff8dcd223df605c">&#9670;&nbsp;</a></span>applyFilter()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
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<p>Downsample a Point <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> using a voxelized grid approach </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the resultant point cloud </td></tr>
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<p>实现了 <a class="el" href="classpcl_1_1_filter_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a256be01434982abe84294a90c7dbc241">pcl::Filter&lt; pcl::PCLPointCloud2 &gt;</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a9b1c84576670f8b34ac7bc92d92e9f39">&#9670;&nbsp;</a></span>getCentroidIndex()</h2>

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          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::getCentroidIndex </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>x</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>y</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>z</em>&#160;</td>
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          <td>)</td>
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<p>Returns the index in the resulting downsampled cloud of the specified point. </p>
<dl class="section note"><dt>注解</dt><dd>for efficiency, user must make sure that the saving of the leaf layout is enabled and filtering performed, and that the point is inside the grid, to avoid invalid access (or use getGridCoordinates+getCentroidIndexAt) </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>the X point coordinate to get the index at </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>the Y point coordinate to get the index at </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z</td><td>the Z point coordinate to get the index at </td></tr>
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<div class="fragment"><div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;      {</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">leaf_layout_</a>.at ((Eigen::Vector4i (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (x * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[0])), </div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;                                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (y * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[1])), </div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;                                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (z * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[2])), </div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;                                                   0) </div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;                - <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">min_b_</a>).dot (divb_mul_)));</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a25b1e276cf28a05712d79d2fa72a70c1"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::leaf_layout_</a></div><div class="ttdeci">std::vector&lt; int &gt; leaf_layout_</div><div class="ttdoc">The leaf layout information for fast access to cells relative to current position</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:822</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a3848566ad3c84944b7aa6d0d1879d22b"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::min_b_</a></div><div class="ttdeci">Eigen::Vector4i min_b_</div><div class="ttdoc">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:827</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_adfab7417c9c38da8bf84f363c480a479"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array4f inverse_leaf_size_</div><div class="ttdoc">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:809</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad1ac95dd523dd9371e2e44784105a647">&#9670;&nbsp;</a></span>getCentroidIndexAt()</h2>

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          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::getCentroidIndexAt </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3i &amp;&#160;</td>
          <td class="paramname"><em>ijk</em></td><td>)</td>
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<p>Returns the index in the downsampled cloud corresponding to a given set of coordinates. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">ijk</td><td>the coordinates (i,j,k) in the grid (-1 if empty) </td></tr>
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<div class="fragment"><div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;      {</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;        <span class="keywordtype">int</span> idx = ((Eigen::Vector4i() &lt;&lt; ijk, 0).finished() - <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">min_b_</a>).dot (divb_mul_);</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;        <span class="keywordflow">if</span> (idx &lt; 0 || idx &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">leaf_layout_</a>.size ())) <span class="comment">// this checks also if leaf_layout_.size () == 0 i.e. everything was computed as needed</span></div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;        {</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;          <span class="comment">//if (verbose)</span></div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;          <span class="comment">//  PCL_ERROR (&quot;[pcl::%s::getCentroidIndexAt] Specified coordinate is outside grid bounds, or leaf layout is not saved, make sure to call setSaveLeafLayout(true) and filter(output) first!\n&quot;, getClassName ().c_str ());</span></div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;          <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;        }</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">leaf_layout_</a>[idx]);</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a7607b25d7f80928f5693bc29fdcef2d1">&#9670;&nbsp;</a></span>getFilterLimits()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::getFilterLimits </td>
          <td>(</td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>limit_min</em>, </td>
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          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>limit_max</em>&#160;</td>
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<p>Get the field filter limits (min/max) set by the user. The default values are -FLT_MAX, FLT_MAX. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[out]</td><td class="paramname">limit_min</td><td>the minimum allowed field value </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">limit_max</td><td>the maximum allowed field value </td></tr>
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<div class="fragment"><div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;      {</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;        limit_min = <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#abbc2d44932141daf9e665e5862e35234">filter_limit_min_</a>;</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;        limit_max = <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab185d719494bb4f3fd02beddf416b557">filter_limit_max_</a>;</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;      }</div>
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<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_abbc2d44932141daf9e665e5862e35234"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#abbc2d44932141daf9e665e5862e35234">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::filter_limit_min_</a></div><div class="ttdeci">double filter_limit_min_</div><div class="ttdoc">The minimum allowed filter value a point will be considered from.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:833</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a29297f6d7cac8c61236585f2dc73c4dd">&#9670;&nbsp;</a></span>getFilterLimitsNegative() <span class="overload">[1/2]</span></h2>

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          <td class="memname">bool <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::getFilterLimitsNegative </td>
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<p>Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). </p>
<dl class="section return"><dt>返回</dt><dd>true if data <b>outside</b> the interval [min; max] is to be returned, false otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      {</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a650f3a4c1ca3ed2dc4b272876b4bf717">filter_limit_negative_</a>);</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a650f3a4c1ca3ed2dc4b272876b4bf717"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a650f3a4c1ca3ed2dc4b272876b4bf717">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::filter_limit_negative_</a></div><div class="ttdeci">bool filter_limit_negative_</div><div class="ttdoc">Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_)....</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:839</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#af05fc089a7314ffd56c8a7cdadf3b5b3">&#9670;&nbsp;</a></span>getFilterLimitsNegative() <span class="overload">[2/2]</span></h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::getFilterLimitsNegative </td>
          <td>(</td>
          <td class="paramtype">bool &amp;&#160;</td>
          <td class="paramname"><em>limit_negative</em></td><td>)</td>
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<p>Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[out]</td><td class="paramname">limit_negative</td><td>true if data <b>outside</b> the interval [min; max] is to be returned, false otherwise </td></tr>
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<div class="fragment"><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;      {</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;        limit_negative = <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a650f3a4c1ca3ed2dc4b272876b4bf717">filter_limit_negative_</a>;</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a58d4b4bb5b59bec0e84c64d8395aafaa">&#9670;&nbsp;</a></span>getGridCoordinates()</h2>

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          <td class="memname">Eigen::Vector3i <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::getGridCoordinates </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>x</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>y</em>, </td>
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          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>z</em>&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z). </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>the X point coordinate to get the (i, j, k) index at </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>the Y point coordinate to get the (i, j, k) index at </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z</td><td>the Z point coordinate to get the (i, j, k) index at </td></tr>
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<div class="fragment"><div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      { </div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;        <span class="keywordflow">return</span> (Eigen::Vector3i (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (x * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[0])), </div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;                                 <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (y * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[1])), </div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;                                 <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (z * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[2])))); </div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6ae66d452352e8475c2600f70e24e149">&#9670;&nbsp;</a></span>getLeafLayout()</h2>

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          <td class="memname">std::vector&lt;int&gt; <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::getLeafLayout </td>
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          <td class="paramname"></td><td>)</td>
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<p>Returns the layout of the leafs for fast access to cells relative to current position. </p>
<dl class="section note"><dt>注解</dt><dd>position at (i-min_x) + (j-min_y)*div_x + (k-min_z)*div_x*div_y holds the index of the element at coordinates (i,j,k) in the grid (-1 if empty) </dd></dl>
<div class="fragment"><div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">leaf_layout_</a>); }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aafea09b10378c43b3fdf1d4081d7c6da">&#9670;&nbsp;</a></span>getNeighborCentroidIndices() <span class="overload">[1/2]</span></h2>

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          <td class="memname">std::vector&lt;int&gt; <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::getNeighborCentroidIndices </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>x</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>y</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>z</em>, </td>
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          <td class="paramtype">const Eigen::MatrixXi &amp;&#160;</td>
          <td class="paramname"><em>relative_coordinates</em>&#160;</td>
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          <td>)</td>
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<p>Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinates, relative to the grid coordinates of the specified point (or -1 if the cell was empty/out of bounds). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>the X coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>the Y coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z</td><td>the Z coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">relative_coordinates</td><td>matrix with the columns being the coordinates of the requested cells, relative to the reference point's cell </td></tr>
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<dl class="section note"><dt>注解</dt><dd>for efficiency, user must make sure that the saving of the leaf layout is enabled and filtering performed </dd></dl>
<div class="fragment"><div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;      {</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        Eigen::Vector4i ijk (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (x * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[0])), </div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;                             <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (y * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[1])), </div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;                             <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (z * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[2])), 0);</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;        Eigen::Array4i diff2min = <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">min_b_</a> - ijk;</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;        Eigen::Array4i diff2max = max_b_ - ijk;</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;        std::vector&lt;int&gt; neighbors (relative_coordinates.cols());</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ni = 0; ni &lt; relative_coordinates.cols (); ni++)</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;        {</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;          Eigen::Vector4i displacement = (Eigen::Vector4i() &lt;&lt; relative_coordinates.col(ni), 0).finished();</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;          <span class="comment">// checking if the specified cell is in the grid</span></div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;          <span class="keywordflow">if</span> ((diff2min &lt;= displacement.array()).all() &amp;&amp; (diff2max &gt;= displacement.array()).all())</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;            neighbors[ni] = <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">leaf_layout_</a>[((ijk + displacement - <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">min_b_</a>).dot (divb_mul_))]; <span class="comment">// .at() can be omitted</span></div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;            neighbors[ni] = -1; <span class="comment">// cell is out of bounds, consider it empty</span></div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;        }</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;        <span class="keywordflow">return</span> (neighbors);</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a087034ff17fe72637bf9fb9a5dbb5e84">&#9670;&nbsp;</a></span>getNeighborCentroidIndices() <span class="overload">[2/2]</span></h2>

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          <td class="memname">std::vector&lt;int&gt; <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::getNeighborCentroidIndices </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>x</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>y</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>z</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>relative_coordinates</em>&#160;</td>
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          <td>)</td>
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<p>Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinates, relative to the grid coordinates of the specified point (or -1 if the cell was empty/out of bounds). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>the X coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>the Y coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z</td><td>the Z coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">relative_coordinates</td><td>vector with the elements being the coordinates of the requested cells, relative to the reference point's cell </td></tr>
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<dl class="section note"><dt>注解</dt><dd>for efficiency, user must make sure that the saving of the leaf layout is enabled and filtering performed </dd></dl>
<div class="fragment"><div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;      {</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;        Eigen::Vector4i ijk (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floorf (x * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[0])), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floorf (y * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[1])), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floorf (z * <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>[2])), 0);</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;        std::vector&lt;int&gt; neighbors;</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;        neighbors.reserve (relative_coordinates.size ());</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt;::const_iterator it = relative_coordinates.begin (); it != relative_coordinates.end (); it++)</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;          neighbors.push_back (<a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">leaf_layout_</a>[(ijk + (Eigen::Vector4i() &lt;&lt; *it, 0).finished() - <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">min_b_</a>).dot (divb_mul_)]);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;        <span class="keywordflow">return</span> (neighbors);</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2c93ac4fcbc8183ad5618e633dd7de7e">&#9670;&nbsp;</a></span>setDownsampleAllData()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::setDownsampleAllData </td>
          <td>(</td>
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          <td class="paramname"><em>downsample</em></td><td>)</td>
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<p>Set to true if all fields need to be downsampled, or false if just XYZ. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">downsample</td><td>the new value (true/false) </td></tr>
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<div class="fragment"><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;{ <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3aced43dc1214b6a5f664ddda59b5fad">downsample_all_data_</a> = downsample; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab936d6808f9d9f98b6c0db24be0a41de">&#9670;&nbsp;</a></span>setFilterFieldName()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::setFilterFieldName </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>field_name</em></td><td>)</td>
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<p>Provide the name of the field to be used for filtering data. In conjunction with <em>setFilterLimits</em>, points having values outside this interval will be discarded. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">field_name</td><td>the name of the field that contains values used for filtering </td></tr>
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<div class="fragment"><div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;      {</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a1cbeb76cb1f0d48a5dbeec93fe0e028b">filter_field_name_</a> = field_name;</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a1cbeb76cb1f0d48a5dbeec93fe0e028b"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a1cbeb76cb1f0d48a5dbeec93fe0e028b">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::filter_field_name_</a></div><div class="ttdeci">std::string filter_field_name_</div><div class="ttdoc">The desired user filter field name.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:830</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a30dd6eb2db4530a79de192731019ac14">&#9670;&nbsp;</a></span>setFilterLimits()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::setFilterLimits </td>
          <td>(</td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>limit_min</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>limit_max</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Set the field filter limits. All points having field values outside this interval will be discarded. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">limit_min</td><td>the minimum allowed field value </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">limit_max</td><td>the maximum allowed field value </td></tr>
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<div class="fragment"><div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;      {</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#abbc2d44932141daf9e665e5862e35234">filter_limit_min_</a> = limit_min;</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab185d719494bb4f3fd02beddf416b557">filter_limit_max_</a> = limit_max;</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac7dc7ae35053e955da166a66a7e98aa6">&#9670;&nbsp;</a></span>setFilterLimitsNegative()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::setFilterLimitsNegative </td>
          <td>(</td>
          <td class="paramtype">const bool&#160;</td>
          <td class="paramname"><em>limit_negative</em></td><td>)</td>
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<p>Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). Default: false. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">limit_negative</td><td>return data inside the interval (false) or outside (true) </td></tr>
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<div class="fragment"><div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;      {</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a650f3a4c1ca3ed2dc4b272876b4bf717">filter_limit_negative_</a> = limit_negative;</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a5a3768360da74a45768b00d8fc7cd179">&#9670;&nbsp;</a></span>setLeafSize() <span class="overload">[1/2]</span></h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::setLeafSize </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>leaf_size</em></td><td>)</td>
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<p>Set the voxel grid leaf size. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">leaf_size</td><td>the voxel grid leaf size </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      { </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a> = leaf_size; </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        <span class="comment">// Avoid division errors</span></div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>[3] == 0)</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>[3] = 1;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;        <span class="comment">// Use multiplications instead of divisions</span></div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a> = Eigen::Array4f::Ones () / <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>.array ();</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_aefb7ae0b4f979af11f5cb1e64595d4ff"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::leaf_size_</a></div><div class="ttdeci">Eigen::Vector4f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:806</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad3efe8cb07386b291c88c5178e8b135d">&#9670;&nbsp;</a></span>setLeafSize() <span class="overload">[2/2]</span></h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::setLeafSize </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>lx</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>ly</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>lz</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Set the voxel grid leaf size. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">lx</td><td>the leaf size for X </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ly</td><td>the leaf size for Y </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">lz</td><td>the leaf size for Z </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      {</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>[0] = lx; <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>[1] = ly; <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>[2] = lz;</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        <span class="comment">// Avoid division errors</span></div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>[3] == 0)</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>[3] = 1;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        <span class="comment">// Use multiplications instead of divisions</span></div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a> = Eigen::Array4f::Ones () / <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>.array ();</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae3eafa1ff8820f85536916c62cfb4de1">&#9670;&nbsp;</a></span>setMinimumPointsNumberPerVoxel()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::setMinimumPointsNumberPerVoxel </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>min_points_per_voxel</em></td><td>)</td>
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<p>Set the minimum number of points required for a voxel to be used. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_points_per_voxel</td><td>the minimum number of points for required for a voxel to be used </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;{ <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5ed9bc7d2ca7c8b965e5d61c4921a4b9">min_points_per_voxel_</a> = min_points_per_voxel; }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a5ed9bc7d2ca7c8b965e5d61c4921a4b9"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5ed9bc7d2ca7c8b965e5d61c4921a4b9">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::min_points_per_voxel_</a></div><div class="ttdeci">unsigned int min_points_per_voxel_</div><div class="ttdoc">Minimum number of points per voxel for the centroid to be computed</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:842</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac224d8287578b0faa84c0dd7a70e50c9">&#9670;&nbsp;</a></span>setSaveLeafLayout()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &gt;::setSaveLeafLayout </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>save_leaf_layout</em></td><td>)</td>
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<p>Set to true if leaf layout information needs to be saved for later access. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">save_leaf_layout</td><td>the new value (true/false) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;{ <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac1202fd3ac1dcb29884f14d690520f02">save_leaf_layout_</a> = save_leaf_layout; }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ac1202fd3ac1dcb29884f14d690520f02"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac1202fd3ac1dcb29884f14d690520f02">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::save_leaf_layout_</a></div><div class="ttdeci">bool save_leaf_layout_</div><div class="ttdoc">Set to true if leaf layout information needs to be saved in leaf_layout.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:817</div></div>
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